JP2002253481A - Flexible endoscope - Google Patents

Flexible endoscope

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Publication number
JP2002253481A
JP2002253481A JP2001053715A JP2001053715A JP2002253481A JP 2002253481 A JP2002253481 A JP 2002253481A JP 2001053715 A JP2001053715 A JP 2001053715A JP 2001053715 A JP2001053715 A JP 2001053715A JP 2002253481 A JP2002253481 A JP 2002253481A
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bending
flexible
flexible tube
state
optical fiber
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JP4005318B2 (en
Inventor
Toshiyuki Hashiyama
Minoru Matsushita
Kenichi Ohara
Kazutaka Sumiyama
Naoki Suzuki
Tetsuya Tarumoto
健一 大原
実 松下
哲也 樽本
俊之 橋山
和毅 炭山
直樹 鈴木
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Asahi Optical Co Ltd
Jikei Univ
学校法人慈恵大学
旭光学工業株式会社
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Priority to JP2001053715A priority Critical patent/JP4005318B2/en
Publication of JP2002253481A publication Critical patent/JP2002253481A/en
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Publication of JP4005318B2 publication Critical patent/JP4005318B2/en
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Abstract

PROBLEM TO BE SOLVED: To provide a flexible endoscope by which a bending state of an inserting part flexible tube which is inserted to the body and its change are continuously detected and displayed without exposure to radiation.
SOLUTION: The endoscope consists of bending state detecting means 30 and 40 which are provided with multiple flexible bending detection optical fibers 21 having a bending detection part 22 where a light transmission amount is changed in accordance with the largeness of a bending angle, where the multiple bending detection parts 22 are arranged in a row in the axial direction of the inserting part flexible tube 1 and which detect the bending state of the inserting part flexible tube 1 in a part where each bending detection part 22 is positioned by the light transmission amount of each bending detection optical fiber 21 and also consists of a bending state display means 41 for displaying the bending state of the whole inserting part flexible tube 1, which is detected by the bending state detecting means 30 and 40, on a monitor screen.
COPYRIGHT: (C)2002,JPO

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】この発明は、胃腸内等を観察するための可撓性内視鏡装置に関する。 TECHNICAL FIELD The present invention relates to flexible endoscopic device for observing the gastrointestinal like.

【0002】 [0002]

【従来の技術】胃腸内等に挿入される可撓性内視鏡装置は、胃腸等の内壁に沿って自由に屈曲するフレキシブルな挿入部可撓管を有しており、挿入部可撓管の屈曲状態を体外から把握するのは困難である。 BACKGROUND OF THE INVENTION flexible endoscopic device inserted into gastrointestinal etc., has a flexible insertion portion flexible tube free to bend along the inner wall of the gastrointestinal such, the flexible tube it is difficult to grasp the bent state from outside the body.

【0003】そのため、挿入部可撓管が胃腸に対してどのような挿入状態にあるのか判断がつかなくなったり、 [0003] or this reason, become the flexible tube is not stick a determination whether there is any such insertion state with respect to the gastrointestinal,
次の挿脱操作をどのようにすればよいか判断できなくなってしまう場合がある。 In some cases it becomes impossible to determine how do I the following insertion and removal operation.

【0004】そこで、X線透視を行えば挿入部可撓管の屈曲状態を透視することができるが、X線照射は厚い鉛壁等で囲まれた特別の室内で行う必要があるだけでなく、連続的なX線透視は放射線被爆の問題があり、人体に非常に悪い影響を与える恐れがある。 [0004] Therefore, it can be seen through the flexion of the flexible tube by performing an X-ray fluoroscopy, X-ray irradiation is not only needs to be performed in a special chamber surrounded by a thick lead wall or the like , continuous X-ray fluoroscopy has of radiation exposure problem, there is a possibility of giving a very bad effect on the human body.

【0005】そこで、内視鏡の挿入部の先端に磁界発生部材を取り付け、その磁界発生部材の位置を人体外に配置された磁気センサーにより検出して、体内にある挿入部の先端の位置をモニター画面に表示するようにしたものがある(特許第2959723号)。 [0005] Therefore, mounting the magnetic field generating member to the distal end of the insertion portion of the endoscope, and detected by the magnetic sensor located outside the human body the position of the magnetic field generating member, the position of the tip of the insertion portion in the body there are those to display on the monitor screen (Japanese Patent No. 2959723).

【0006】 [0006]

【発明が解決しようとする課題】しかし、上述のように挿入部の先端に取り付けられた磁界発生部材の位置を検出する装置では、挿入部先端の位置が分かるだけで挿入部可撓管の屈曲状態は分からず、しかもそのような装置では外来ノイズの影響を受け易く、良好な状態で位置検出を継続できない場合が少なくない。 [SUMMARY OF THE INVENTION However, in the apparatus for detecting the position of the magnetic field generating member attached to the distal end of the insertion portion as described above, bending of the flexible tube just seen the position of the leading end of the insertion portion state is not known, yet susceptible to external noise in such devices, not a few may not be able to continue the position detection in a good condition.

【0007】そこで本発明は、体内に挿入された挿入部可撓管の屈曲状態とその変化を、放射線被爆なしに継続的に検出、表示することができる可撓性内視鏡装置を提供することを目的とする。 [0007] The present invention provides a flexion and the change of the flexible tube inserted in the body, continuously detected without radiation exposure, a flexible endoscopic device capable of displaying and an object thereof.

【0008】 [0008]

【課題を解決するための手段】上記の目的を達成するため、本発明の可撓性内視鏡装置は、フレキシブルな挿入部可撓管を有する可撓性内視鏡装置において、曲げられた角度の大きさに対応して光の伝達量が変化する曲がり検出部を有するフレキシブルな曲がり検出用光ファイバーが複数設けられて、複数の曲がり検出部が挿入部可撓管の軸線方向に並んで配置され、各曲がり検出用光ファイバーの光伝達量から各曲がり検出部が位置する部分における挿入部可撓管の屈曲状態を検出するための屈曲状態検出手段と、屈曲状態検出手段により検出された挿入部可撓管全体の屈曲状態をモニター画面に表示する屈曲状態表示手段とが設けられているものである。 Means for Solving the Problems] To achieve the above object, a flexible endoscope apparatus of the present invention is a flexible endoscope having a flexible insertion portion flexible tube, bent corresponds to the magnitude of the angle provided with a plurality flexible bending detection optical fiber has a detector curve amount transmission of light is changed, arranged side by side a plurality of bending detection section in the axial direction of the flexible tube is a bending state detecting means for detecting the bending state of the flexible tube in a portion where each bend detection unit from the light transmission quantity is the position of each bending detection optical fiber, the insertion portion detected by the bending state detecting means in which the bent state display means for displaying the bending state of the entire flexible tube on the monitor screen is provided.

【0009】なお、曲がり検出部は、曲がり検出用光ファイバーの途中に光吸収部が所定の方向にだけ形成されたものであればよく、複数の曲がり検出用光ファイバーが一枚のフレキシブルな帯状部材に取り付けられていて、その帯状部材が挿入部可撓管に取り付けられた構成をとってもよい。 [0009] Incidentally, the bending detection section, in the middle of the bending detection optical fiber as long as the light absorbing portion is formed only in a predetermined direction, a flexible belt-like member of one plurality of bending detection optical fiber Once installed, it may be adopted a configuration in which the belt-shaped member is attached to the flexible tube.

【0010】また、各曲がり検出部と並列に配置された第2の曲がり検出部を有する第2の複数の曲がり検出用光ファイバーが配置されていて、双方の曲がり検出用光ファイバーの光伝達量から屈曲状態検出手段において挿入部可撓管の三次元の屈曲状態が検出され、その屈曲状態がモニター画面に表示されるようにしてもよく、その場合、第1と第2の複数の曲がり検出用光ファイバーが、一枚の帯状部材の裏側と表側とに分かれて取り付けられていてもよい。 Further, bending from the light transmission amount of the second bend the second plurality of bending detection optical fiber has been arranged with a detector, both of bending detection optical fibers arranged in parallel with each bending detection section in the state detecting means detects a three-dimensional bending state of the flexible tube may also be the bent state is displayed on the monitor screen, in which case the first and second plurality of bending detection optical fiber but it may be attached divided into a rear and front one of the belt-shaped member.

【0011】また、挿入部可撓管が通過する挿入部案内部材が設けられると共に、挿入部案内部材に対する挿入部可撓管の通過長さを検出するための挿入長検出手段が設けられていて、挿入部可撓管の屈曲状態と共に挿入部案内部材の位置がモニター画面に表示されるようにしてもよい。 Further, the insertion portion guide member is the flexible tube passes through is provided, though the insertion length detection means for detecting the passage length of the flexible tube is provided for inserting portion guide member , the position of the insertion portion guide member with the bending state of the flexible tube may also be displayed on the monitor screen.

【0012】そして、モニター画面に、挿入部案内部材が動かない状態に表示されると、現実と対応を付けて判断をし易い表示になる。 [0012] Then, the monitor screen, when the insertion portion guide member is displayed in a state that does not move, become easily display the determination with the reality and the corresponding.

【0013】 [0013]

【発明の実施の形態】図面を参照して本発明の実施例を説明する。 DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings illustrating the embodiment of the present invention. 図2は可撓性内視鏡装置の全体構成を示しており、操作部2の下端に挿入部可撓管1の基端が連結され、挿入部可撓管1の先端付近の部分は、操作部2に配置された操作ノブ3を回転操作することによって任意の方向に屈曲する湾曲部1aになっている。 Figure 2 shows the overall configuration of a flexible endoscope, is connected insertion portion proximal end of the flexible tube 1 to the lower end of the operation unit 2, the tip portion in the vicinity of the flexible tube 1, It has a curved portion 1a which is bent in any direction the operation knob 3 disposed in the operation section 2 by rotating operation.

【0014】挿入部可撓管1の先端には、観察窓等が配置された先端部本体4が連結されており、先端部本体4 [0014] The distal end of the flexible tube 1, is connected the distal end body 4 the observation window or the like is disposed, the distal end portion main body 4
に内蔵された固体撮像素子(図示せず)で撮像された内視鏡観察像の映像信号が、操作部2から延出する映像信号線6により外部のビデオプロセッサ7に送られ、内視鏡観察画像が観察画像用モニター8に表示される。 A solid-state imaging device incorporated in video signal of an endoscope observation image taken by the (not shown), the video signal line 6 which extends from the operation section 2 is sent to an external video processor 7, the endoscope observation image is displayed on the observation image for the monitor 8.

【0015】挿入部可撓管1には、操作部2の前面の延長方向(即ち、観察画面における上方向)の位置に、後述する複数の曲がり検出用光ファイバーが配置されたフレキシブルな合成樹脂製の帯状部材20が取り付けられていて、その基端部が光信号入出力装置30に接続されている。 [0015] The flexible tube 1, the extension direction of the front of the operation unit 2 (i.e., upward in the observation screen) to position the plurality of bending detection optical fibers arranged made flexible synthetic resin described later strip 20 is attached, its base end is connected to the optical signal input-output device 30.

【0016】また、光信号入出力装置30の信号出力線がコンピュータ40に接続され、そのコンピュータ40 Further, the signal output lines of the optical signal input and output apparatus 30 is connected to the computer 40, the computer 40
には、ブラウン管又は液晶等を用いて画像表示を行う挿入状態表示用モニター41が接続されている。 The insertion state display monitor 41 for displaying an image using a cathode ray tube or a liquid crystal or the like is connected.

【0017】図1は、挿入部可撓管1の先端付近を示しており、先端部本体4の先端面に観察窓11、照明窓1 [0017] Figure 1 shows the tip vicinity of the flexible tube 1, the distal end portion main body 4 of the front end surface to the observation window 11, illumination window 1
2、処置具突出口13等が配置され、照明窓12から放射された照明光により照明された被写体が、観察窓11 2, is arranged a treatment instrument projection port 13, etc., subject illuminated by the illumination light emitted from the illumination window 12, the observation window 11
内に配置された対物光学系(図示せず)により固体撮像素子の撮像面に結像する。 Formed on the imaging surface of the solid-state imaging device by arranged the objective optical system within (not shown).

【0018】帯状部材20は、III−III断面を図示する図3に示されるように、挿入部可撓管1の「上方向」の外表面に密着して挿入部可撓管1の軸線と平行方向に配置されていて、例えばその外側から挿入部可撓管1と共に熱収縮チューブ14によって包み込まれて押圧固定されている。 The belt-shaped member 20, as shown in FIG. 3 illustrating a III-III cross section, the axis in close contact with the outer surface of the flexible tube 1 in the "up" of the flexible tube 1 be arranged in parallel, for example encased by a heat shrinkable tube 14 is pressed and fixed with the flexible tube 1 from the outside.

【0019】ただし、挿入部可撓管1に対する帯状部材20の固定は、接着その他どのような手段を用いても差し支えない。 [0019] However, the fixation of the belt-shaped member 20 with respect to the flexible tube 1, no problem even by using an adhesive other any means. 熱収縮チューブ14の内側に位置する可撓管構造体10は、金属製螺旋管に網状管を被覆し、さらにその外面に可撓管外皮を被覆して構成されている。 Flexible tube structure 10 is located inside of the heat shrinkable tube 14, a mesh tube was coated on a metallic spiral tube, it is configured by further covering the flexible tube outer skin on its outer surface.

【0020】図1に示されるように、複数の曲がり検出用光ファイバー21は順に位置を変えて滑らかなU字状に後方に曲げ戻されている。 [0020] As shown in FIG. 1, a plurality of bending detection optical fiber 21 is bent back rearwardly smooth U-shape by changing the positions in sequence. そして、各曲がり検出用光ファイバー21の曲げ戻し部の近傍に曲がり検出部22 Then, the detection unit 22 bends in the vicinity of the bent-back portion of the bending detection optical fiber 21
が形成されている。 There has been formed.

【0021】曲がり検出部22は、挿入部可撓管1の軸線方向に例えば数センチメートル程度の間隔をあけて、 The bend detection unit 22 is opened an insertion portion interval of about axially, for example, several centimeters of the flexible tube 1,
挿入部可撓管1の全長にわたって例えば5〜30個程度配置されている。 Are arranged, for example, about 5 to 30 amino entire length of the flexible tube 1.

【0022】曲がり検出部22は、プラスチック製のコアにクラッドが被覆された曲がり検出用光ファイバー2 The bending detection section 22, detection optical fiber 2 bending the clad was coated on a plastic core
1の途中の部分に、光吸収部分が所定の方向(例えば上方向又は下方向)にだけ形成されたものであり、曲がり検出部22が曲げられた程度に対応して光の伝達量が変化するので、それを検出することによって曲がり検出部22が配置された部分の曲がり角度を検出することができる。 The middle portion of 1, which light absorption portion is formed only in a predetermined direction (e.g., upward or downward), corresponding to the degree of bending detection section 22 is bent change transmission amount of light to so, it is possible to detect the bending angle of the part detection unit 22 is arranged bent by detecting it.

【0023】その原理については米国特許第56334 [0023] The principle is US Patent No. 56334
94号等に記載されている通りであるが、以下に簡単に説明をする。 Although as described in 94 No. etc., and briefly described below. 図4において、21aと21bは、一本の曲がり検出用光ファイバー21のコアとクラッドであり、曲がり検出部22には、コア21a内を通過してきた光をコア21a内に全反射せずに吸収してしまう光吸収部22aが、クラッド21bの特定方向(ここでは「下方向」)の部分に形成されている。 In FIG. 4, 21a and 21b are core and cladding of one of the bending detection optical fiber 21, the bend detection unit 22, absorbed without totally reflecting the light that has passed through the core 21a in the core 21a to cause the light absorbing portion 22a, a specific direction of the clad 21b (here, "down") are formed in a portion of the.

【0024】すると、図5に示されるように、曲がり検出用光ファイバー21が上方向に曲げられると、コア2 [0024] Then, as shown in FIG. 5, when the bending detection optical fiber 21 is bent upward, the core 2
1a内を通る光のうち光吸収部22aにあたる光の量(面積)が増えるので、曲がり検出用光ファイバー21 The amount of light striking the light-absorbing portion 22a out of the light (area) is increased through the 1a, bending detection optical fiber 21
の光伝達量が減少する。 Light transmission amount is decreased.

【0025】逆に、図6に示されるように、曲がり検出用光ファイバー21が下方向に曲げられると、コア21 [0025] Conversely, as shown in FIG. 6, when the bending detection optical fiber 21 is bent downward, the core 21
a内を通る光のうち光吸収部22aにあたる光の量(面積)が減少するので、曲がり検出用光ファイバー21の光伝達量が増加する。 Since the amount of light striking out light absorbing portion 22a of the light passing through the a (area) is reduced, bending light transmission amount of the detection optical fiber 21 is increased.

【0026】このような、光吸収部22aにおける曲がり検出用光ファイバー21の曲がり量と光伝達量とは一定の関係(例えば一次関数的関係)になるので、曲がり検出用光ファイバー21の光伝達量を検出することにより、光吸収部22aが形成されている曲がり検出部22 [0026] Such, since a constant relationship (eg a linear function relationship) to the amount of flexure and the light transmission quantity of the detection optical fiber 21 bends in the light absorbing portion 22a, the light transmission amount of bending detection optical fiber 21 by detecting, bending the light absorbing portion 22a is formed detector 22
部分の曲がり角度を検出することができる。 It is possible to detect the portion of the bending angle.

【0027】したがって、挿入部可撓管1の軸線方向に間隔をあけて複数の曲がり検出部22が配列されている場合には、各曲がり検出部22間の間隔と検出された各曲がり検出部22の曲がり角度から、挿入部可撓管1全体の上下方向の屈曲状態を検出することができる。 [0027] Therefore, when at intervals in the axial direction of the flexible tube 1 are a plurality of curved detector 22 are arranged, each bend detection unit detected the spacing between each of the curved detector 22 from 22 of the bending angle, it is possible to detect the vertical flexion of the entire flexible tube 1.

【0028】そして、図7に略示されるように、上述のような曲がり検出部22と並列にさらに第2の曲がり検出部22′を配置して、横に並んだ二つの曲がり検出部22,22′の光伝達量を比較すれば、左右方向に捩れがない場合には双方の光伝達量に差がなく、左右方向の捩じれ量に応じて双方の光伝達量の差が大きくなる。 [0028] Then, as shown schematically in Figure 7, by arranging the further second bending detection section 22 'in parallel with the bending detection section 22 as described above, two bending detection section 22 aligned horizontally, by comparing the light transmission quantity of 22 ', there is no difference in the light transmission amount of both when there is no twist in the lateral direction, the difference in both the light transmission amount increases according to the amount torsion of the right and left directions.

【0029】したがって、各曲がり検出部22,22′ [0029] Thus, each bend detection unit 22, 22 '
の光伝達量を計測してその計測値を比較することにより、曲がり検出部22,22′が配置された部分の左右方向の捩れ量を検出することができる。 Its by comparing the measured values, it is possible to detect the torsion in the lateral direction of the arranged bend detection unit 22, 22 'moiety by measuring the light transmission quantity. この原理は、米国特許第6127672号等に記載されている通りである。 The principle is as described in U.S. Patent No. 6,127,672 and the like.

【0030】したがって、複数の曲がり検出部22を挿入部可撓管1の軸線方向に所定の間隔で配置すると共に、それと並列に第2の複数の曲がり検出部22′を配置して、各曲がり検出部22,22′における光伝達量を検出、比較することにより挿入部可撓管1全体の三次元の屈曲状態を検出することができる。 [0030] Thus, while arranged at predetermined intervals in the axial direction of the flexible tube 1 a plurality of bending detection section 22, therewith placing a second plurality of curved detector 22 'in parallel, bend the the light transmission quantity in the detection unit 22, 22 'detection, it is possible to detect the three-dimensional bending state of the entire flexible tube 1 by comparison.

【0031】そこで本実施例の可撓性内視鏡装置においては、図8に示されるように、帯状部材20の長手方向に一定の間隔で曲がり検出部22が位置するように、複数の曲がり検出用光ファイバー21を帯状部材20の表面側に取り付けると共に、図3に断面が示されるように、表側の各曲がり検出部22の横に第2の曲がり検出部22′が並ぶように、帯状部材20の裏面側に第2の複数の曲がり検出用光ファイバー21′が取り付けられている。 [0031] Therefore, in the flexible endoscope apparatus of the present embodiment, as shown in FIG. 8, as detector 22 bends at regular intervals in the longitudinal direction of the belt-shaped member 20 is positioned, a plurality of bend a detection optical fiber 21 is attached to the surface side of the belt-shaped member 20, so that the cross section is shown in Figure 3, as the second bend detection unit 22 'are arranged next to the front side of the bend detection unit 22, the belt-shaped member a second plurality of bends detection optical fiber 21 'is attached to the back side of 20.

【0032】また、光吸収部22aが形成されていないシンプルなリファレンス用光ファイバー21Rを少なくとも一本配置して、各曲がり検出用光ファイバー21の光伝達量をリファレンス用光ファイバー21Rの光伝達量と比較することにより、曲がり検出用光ファイバー2 Moreover, by a simple reference optical fiber 21R of the light absorbing portion 22a is not formed is arranged at least one, comparing the light transmission amount of the bending detection optical fiber 21 and the light transmission quantity of the reference optical fiber 21R by, bending detection optical fiber 2
1の光伝達量に対する温度や経時劣化等の影響を除くことができる。 It can eliminate the influence of such as temperature and time degradation for one of the light transmission quantity.

【0033】図9は、光信号入出力装置30を示しており、一つの発光ダイオード31からの射出光が全部の光ファイバー21,21′,21Rに入射される。 [0033] Figure 9 shows an optical signal input device 30, the exit light is all fiber 21, 21 from one of the light emitting diode 31 ', is incident on the 21R. 32 32
は、発光ダイオード31の駆動回路である。 Is a drive circuit of the light emitting diode 31.

【0034】そして、各光ファイバー21,21′,2 [0034] Then, each optical fiber 21, 21 ', 2
1Rの射出端毎に、光の強度レベルを電圧レベルに変換して出力するフォトダイオード33が配置されていて、 1R each exit end of photodiodes 33 for converting the intensity level of light in voltage level are arranged,
各フォトダイオード33からの出力が、アンプ34で増幅されてからアナログ/デジタル変換器35によりデジタル信号化されてコンピュータ40に送られる。 The output from each photodiode 33 is, after being amplified by the amplifier 34 is a digital signal by an analog / digital converter 35 and sent to the computer 40.

【0035】このように構成された可撓性内視鏡装置の挿入部可撓管1が体内に挿入される際には、図10に示されるように、挿入部案内部材50が体内への入口部分(例えば口又は肛門)に取り付けられて、挿入部可撓管1はその挿入部案内部材50内を通される。 [0035] When the flexible tube 1 of the thus configured flexible endoscope device is inserted into the body, as shown in FIG. 10, the insertion unit guide member 50 into the body attached to the inlet portion (e.g. mouth or anus), the flexible tube 1 is passed through the insertion portion guiding member 50.

【0036】そこで、挿入部案内部材50に挿入部可撓管1の挿入長(即ち、挿入部案内部材50に対する通過長)Lを検出するためのエンコーダ60等が設けられていて、エンコーダ60からの出力信号がコンピュータ4 [0036] Therefore, the insertion length of the flexible tube 1 in the insertion portion guide member 50 (i.e., pass length for insertion unit guide member 50) such as an encoder 60 for detecting the L is provided, from the encoder 60 computer 4 output signal of
0に送られるようになっている。 It is sent to the 0.

【0037】図11は、そのような挿入部案内部材50 [0037] Figure 11, such insertion unit guide member 50
の一例を示しており、圧縮コイルスプリング52によって付勢された複数の回転自在な球状部材51が、挿入部可撓管1を周囲から挟み付ける状態に配置されている。 It shows an example of a plurality of rotatable spherical member 51 which is biased by the compression coil spring 52 is disposed in a state of sandwiching the flexible tube 1 from the surroundings.

【0038】したがって、各球状部材51は挿入部可撓管1の挿入長Lに比例して回転し、球状部材51のうちの一つに、挿入部可撓管1の挿入長Lに比例する数のパルスを出力するエンコーダ60が連結されている。 [0038] Thus, the spherical member 51 is rotated in proportion to the insertion length L of the flexible tube 1, to one of the spherical member 51 is proportional to the insertion length L of the flexible tube 1 encoder 60 for outputting a number of pulses is connected.

【0039】ただし、挿入部案内部材50における挿入部可撓管1の挿入長Lの検出は、例えば特開昭56−9 [0039] However, the detection of the insertion length L of the flexible tube 1 in the insertion unit guide member 50, for example, JP-56-9
7429号や特開昭60−217326号等に記載されているように、挿入部可撓管1の表面からの光反射等を利用してもよく、その他の手段によっても差し支えない。 As described like in JP and JP 60-217326 7429 may utilize a light reflection or the like from the surface of the flexible tube 1, no problem even by other means.

【0040】このようにして、図10に示されるように、コンピュータ40には光信号入出力装置30とエンコーダ60から挿入部可撓管1の屈曲状態検出信号と挿入長検出信号が入力し、挿入部案内部材50の画像5 [0040] Thus, as shown in FIG. 10, and enter the bending state detection signal to the insertion length detection signal of the flexible tube 1 from the optical signal input and output apparatus 30 and the encoder 60 to the computer 40, image 5 of the insertion portion guide member 50
0′と、挿入部可撓管1の屈曲状態を示す画像1′が挿入状態表示用モニター41に表示される。 'And, image 1 showing the bending state of the flexible tube 1' 0 is displayed in the inserted state display monitor 41.

【0041】このとき、挿入部案内部材50の画像5 The image 5 at this time, the insertion portion guide member 50
0′の表示位置を挿入状態表示用モニター41上において固定し、それより前方に挿入された部分の挿入部可撓管1の屈曲状態を示す画像1′を、挿入部可撓管1の変化に合わせてリアルタイムで変化させることにより、体内における挿入部可撓管1の状態を容易に把握することができる。 0 'the display position is fixed on the inserted state display monitor 41, the image 1 showing the insertion portion flexion of the flexible tube 1 of the injected part it from the front' of the change in the flexible tube 1 combined by changing in real time, it is possible to easily grasp the state of the flexible tube 1 in the body.

【0042】図12は、そのような画像を挿入状態表示用モニター41に表示させるためのコンピュータ40のソフトウェアの内容の概略を示すフロー図であり、図中のSはステップを示す。 [0042] Figure 12 is a flowchart showing the outline of contents of the software of the computer 40 for displaying such images on the inserted state display monitor 41, S in the figure indicate the steps.

【0043】挿入状態表示用モニター41に正確な屈曲状態を表示させるためには、まず挿入部可撓管1を体内に挿入する前に、実際に用いられる内視鏡の挿入部可撓管1の屈曲角度と曲がり検出用光ファイバー21から得られる検出信号とを対比させるキャリブレーションを行っておくことが好ましい(S1)。 [0043] In order to display the correct flexion insertion state display monitor 41, before first inserting the flexible tube 1 in the body, actually the flexible tube 1 of an endoscope to be used it is preferable to perform calibration to contrast the detection signal obtained from the degree of flexion and bending detection optical fiber 21 (S1).

【0044】そして、挿入部可撓管1を体内に挿入したら、エンコーダ60から挿入部1の挿入長Lの検出信号を入力して(S2)、挿入部案内部材50が挿入部可撓管1のどの位置にあるかを算出する(S3)。 [0044] Then, when the flexible tube 1 is inserted into the body, and inputs the detection signal of the insertion length L of the insertion portion 1 from the encoder 60 (S2), inserting the insertion portion guiding member 50 the flexible tube 1 calculates whether at position throat (S3).

【0045】次いで、各曲がり検出用光ファイバー21 [0045] Then, each bend detection optical fiber 21
からの検出信号V 1 …を入力して(S4)、その検出信号V 1 …をキャリブレーションデータに基づいて曲がり角度に変換し(S5)、各曲がり検出部22部分の曲がり角度から、三次元座標上における各曲がり検出部22 Detection signal V 1 ... by entering from (S4), and converts the detection signal V 1 ... the skew angle based on the calibration data (S5), the bending angle of the bending detection section 22 portion, three-dimensional bending each of the coordinate detection section 22
の位置を算出する(S6)。 And it calculates the position (S6).

【0046】そして、挿入状態表示用モニター41において挿入部案内部材50の像50′の位置を動かさないようにして、各曲がり検出部22の位置を滑らかに結んで表示することにより挿入部可撓管1の屈曲状態が表示され(S7)、S2へ戻ってS2〜S7を繰り返す。 [0046] Then, the flexible insertion by the inserted state display monitor 41 so as not to move the position of the image 50 'of the insert portion guide member 50, and displays by smoothly connecting the positions of the bending detection section 22 flexion of the tube 1 is displayed (S7), and repeats the S2~S7 returns to S2.

【0047】このような表示を行う際、挿入状態表示用モニター41における表示は二次元画像であるが、各曲がり検出部22の位置についての三次元データが得られているので、「上方向」だけでなく任意の回転方向における挿入部可撓管1の屈曲状態を表示させることができる。 [0047] When performing such display, the display in the inserted state display monitor 41 is a two-dimensional image, since the three-dimensional data for the position of each bending detection section 22 is obtained, "up" it can be displayed flexion of the flexible tube 1 in an arbitrary direction of rotation as well.

【0048】なお、挿入部案内部材50の球状部材51 [0048] Incidentally, the insertion portion guiding member 50 spherical member 51
から挿入部可撓管1の軸線周りの回転方向を検出して、 By detecting the direction of rotation about the axis of the flexible tube 1 from
挿入部可撓管1の軸線周りの回転量に対応して挿入状態表示用モニター41の表示像を回転させれば、挿入状態表示用モニター41に患者の身体の向きが固定されたかのごとく画像表示させることができる。 Is rotated the display image of the insertion state display monitor 41 in response to the rotation amount about the axis of the flexible tube 1, the image display as if the orientation of the patient's body is fixed to the inserted state display monitor 41 it can be.

【0049】 [0049]

【発明の効果】本発明によれば、複数のフレキシブルな曲がり検出用光ファイバーの曲がり検出部を挿入部可撓管の軸線方向に並んで配置し、各曲がり検出用光ファイバーの光伝達量を検出して処理することにより、体内に挿入された挿入部可撓管の屈曲状態を放射線被爆なしに継続的に検出、表示することができる優れた効果を有する。 According to the present invention, arranged side by side bending detection portion of a plurality of flexible bending detection optical fiber in the axial direction of the flexible tube, to detect the light transmission amount of the bending detection optical fiber by treating Te, continuously detecting the bending state of the flexible tube inserted into the body without radiation exposure, it has an excellent effect that can be displayed.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の実施例の可撓性内視鏡装置の挿入部可撓管の先端付近の斜視図である。 1 is a perspective view of the vicinity of the distal end of the flexible tube of the flexible endoscope apparatus of the embodiment of the present invention.

【図2】本発明の実施例の可撓性内視鏡装置の全体構成(挿入部案内部材を除く)の略示図である。 It is a schematic view of the overall configuration of the flexible endoscope apparatus according to an embodiment of the present invention; FIG (excluding the insertion portion guide member).

【図3】本発明の実施例の挿入部可撓管の軸線に垂直な断面における断面図(図1におけるIII−III断面図である。 Figure 3 is a cross-sectional view in a cross-section perpendicular to the axis of the flexible tube of the embodiment of the present invention (a sectional view taken along line III-III in FIG. 1.

【図4】本発明の実施例に用いられる曲がり検出用光ファイバーの曲がり検出部の略示断面図である。 4 is a schematic sectional view bend detection unit of the bending detection optical fiber used in an embodiment of the present invention.

【図5】本発明の実施例に用いられる曲がり検出用光ファイバーの曲がり検出部が屈曲した状態の略示断面図である。 [5] bending detection section of the bending detection optical fiber used in an embodiment of the present invention is a schematic sectional view of a bent state.

【図6】本発明の実施例に用いられる曲がり検出用光ファイバーの曲がり検出部が逆方向に屈曲した状態の略示断面図である。 6 is a schematic sectional view of a state in which the bending detection section is bent in the opposite direction of the bending detection optical fiber used in an embodiment of the present invention.

【図7】本発明の実施例に用いられる曲がり検出用光ファイバーによる三次元の屈曲状態検出の原理を説明するための略示図である。 7 is a schematic view for explaining the principle of a three-dimensional bending state detection by the detection optical fiber bending used in embodiments of the present invention.

【図8】本発明の実施例の曲がり検出用光ファイバーが取り付けられた帯状部材の平面図である。 8 is a plan view of a belt-shaped member bend detection optical fiber is mounted in the embodiment of the present invention.

【図9】本発明の実施例の光信号入出力装置の回路図である。 9 is a circuit diagram of an optical signal output apparatus according to an embodiment of the present invention.

【図10】本発明の実施例の可撓性内視鏡装置の使用状態の全体構成を示す略示図である。 10 is a schematic view showing the overall structure of a state of use of a flexible endoscope apparatus of the embodiment of the present invention.

【図11】本発明の実施例の挿入部案内部材の正面断面図である。 11 is a front sectional view of the insertion portion guide member according to an embodiment of the invention.

【図12】本発明の実施例のコンピュータのソフトウェアの内容を略示するフロー図である。 Is a flow diagram that illustrates generally the content of the software in the computer of the embodiment of the present invention; FIG.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 挿入部可撓管 1′ 挿入部可撓管の屈曲状態の画像 20 帯状部材 21,21′ 曲がり検出用光ファイバー 22,22′ 曲がり検出部 30 光信号入出力装置 40 コンピュータ 41 挿入状態表示用モニター 50 挿入部案内部材 50′ 挿入部案内部材の画像 60 エンコーダ 1 the flexible tube 1 bent detecting optical fibers 22, 22 'bend detection unit 30 optical signal input and output device 40 computer 41 inserted state display monitor' image 20 strips 21, 21 of the bent state of the flexible tube ' 50 image 60 encoder of the insertion portion guide member 50 'insertion section guide member

───────────────────────────────────────────────────── フロントページの続き (72)発明者 炭山 和毅 東京都港区西新橋三丁目25番8号 学校法 人慈恵大学内 (72)発明者 樽本 哲也 東京都板橋区前野町2丁目36番9号 旭光 学工業株式会社内 (72)発明者 松下 実 東京都板橋区前野町2丁目36番9号 旭光 学工業株式会社内 (72)発明者 大原 健一 東京都板橋区前野町2丁目36番9号 旭光 学工業株式会社内 (72)発明者 橋山 俊之 東京都板橋区前野町2丁目36番9号 旭光 学工業株式会社内 Fターム(参考) 2H040 BA00 BA23 CA11 DA54 GA11 4C061 DD03 FF24 FF46 HH51 JJ17 WW11 5C022 AA08 AC11 ────────────────────────────────────────────────── ─── of the front page continued (72) inventor Sumiyama KazuAtsushi, Minato-ku, Tokyo, Nishi-Shinbashi, Third Street No. 25 No. 8 school Law people in Jikeidaigaku (72) inventor Tetsuya Tarumoto Itabashi-ku, Tokyo cortex-cho 2-chome 36th No. 9 rays of the rising sun chemical industry Co., Ltd. in the (72) inventor Minoru Matsushita Itabashi-ku, Tokyo cortex-cho 2-chome No. 36 No. 9 rays of the rising sun chemical industry Co., Ltd. in the (72) inventor Kenichi Ohara Itabashi-ku, Tokyo cortex-cho 2-chome 36th No. 9 rays of the rising sun chemical industry Co., Ltd. in the (72) inventor Tomonori Toshiyuki Itabashi-ku, Tokyo cortex-cho 2-chome No. 36 No. 9 rays of the rising sun chemical industry Co., Ltd. in the F-term (reference) 2H040 BA00 BA23 CA11 DA54 GA11 4C061 DD03 FF24 FF46 HH51 JJ17 WW11 5C022 AA08 AC11

Claims (7)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】フレキシブルな挿入部可撓管を有する可撓性内視鏡装置において、 曲げられた角度の大きさに対応して光の伝達量が変化する曲がり検出部を有するフレキシブルな曲がり検出用光ファイバーが複数設けられて、上記複数の曲がり検出部が上記挿入部可撓管の軸線方向に並んで配置され、 上記各曲がり検出用光ファイバーの光伝達量から上記各曲がり検出部が位置する部分における上記挿入部可撓管の屈曲状態を検出するための屈曲状態検出手段と、上記屈曲状態検出手段により検出された上記挿入部可撓管全体の屈曲状態をモニター画面に表示する屈曲状態表示手段とが設けられていることを特徴とする可撓性内視鏡装置。 1. A flexible endoscope having a flexible insertion portion flexible tube device, a flexible bending detection with detector bend corresponding to the size of the bent angle changes the amount of transmission of light use an optical fiber is provided with a plurality, the plurality of curved detector are arranged side by side in the axial direction of the flexible tube, the portion detection unit bending each of the light transmission amount of each bending detection optical fiber is located the insertion portion and the bending state detecting means for detecting the bending state of the flexible tube, the bending state display means for displaying the flexion of the whole detected the flexible insertion tube by the bending state detecting means on the monitor screen in flexible endoscope apparatus characterized by bets is provided.
  2. 【請求項2】上記曲がり検出部は、上記曲がり検出用光ファイバーの途中に光吸収部が所定の方向にだけ形成されたものである請求項1記載の可撓性内視鏡装置。 Wherein said bending detecting section, a flexible endoscope system of claim 1, wherein the light absorbing portion in the middle of the bending detection optical fiber and is formed by a predetermined direction.
  3. 【請求項3】上記複数の曲がり検出用光ファイバーが一枚のフレキシブルな帯状部材に取り付けられていて、その帯状部材が上記挿入部可撓管に取り付けられている請求項1又は2記載の可撓性内視鏡装置。 3. A have the plurality of bending detection optical fibers are mounted on a single flexible strip, the flexible of the belt-shaped member according to claim 1 or 2, wherein attached to the flexible tube sex endoscope apparatus.
  4. 【請求項4】上記各曲がり検出部と並列に配置された第2の曲がり検出部を有する第2の複数の曲がり検出用光ファイバーが配置されていて、双方の曲がり検出用光ファイバーの光伝達量から上記屈曲状態検出手段において上記挿入部可撓管の三次元の屈曲状態が検出され、その屈曲状態が上記モニター画面に表示される請求項1、2 4. A have the above bending detection section and the second plurality of bending detection optical fiber having a second bending detection section arranged in parallel is arranged, the light transmission of both the bending detection optical fiber the three-dimensional bending state of the flexible tube at the bent state detecting means is detected, according to claim 1 in which the bending state is displayed on the monitor screen
    又は3記載の可撓性内視鏡装置。 Or 3 flexible endoscope according.
  5. 【請求項5】上記の第1と第2の複数の曲がり検出用光ファイバーが、一枚の帯状部材の裏側と表側とに分かれて取り付けられている請求項4記載の可撓性内視鏡装置。 Wherein said first and second plurality of bending detection optical fiber, a flexible endoscope apparatus according to claim 4, wherein the mounted divided into a rear and front single strip .
  6. 【請求項6】上記挿入部可撓管が通過する挿入部案内部材が設けられると共に、上記挿入部案内部材に対する上記挿入部可撓管の通過長さを検出するための挿入長検出手段が設けられていて、上記挿入部可撓管の屈曲状態と共に上記挿入部案内部材の位置が上記モニター画面に表示される請求項1ないし5のいずれかの項に記載の可撓性内視鏡装置。 6. the insertion section guide member in which the flexible tube passes is provided, provided with insertion length detecting means for detecting the passage length of the flexible tube with respect to the insertion portion guide member have been, the position of the insertion portion guide member with the bending state of the flexible tube is a flexible endoscope according to any one of claims 5 claims 1 is displayed on the monitor screen.
  7. 【請求項7】上記モニター画面に、上記挿入部案内部材が動かない状態に表示される請求項6記載の可撓性内視鏡装置。 7. The above monitor screen, a flexible endoscope apparatus according to claim 6, wherein that appears in the state does not move the insertion portion guide member.
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